Remarks

MotorWing
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

MotorWing motorWing;

public override Task Initialize()
{
    Console.WriteLine("Initializing ...");

    var i2CBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
    motorWing = new MotorWing(i2CBus, new Frequency(100, Frequency.UnitType.Hertz), 0x61);
    motorWing.Initialize();

    return Task.CompletedTask;
}

public override async Task Run()
{
    //Get DC motor 1
    var dcMotor1 = motorWing.GetMotor(1);

    //Get DC motor 2
    var dcMotor2 = motorWing.GetMotor(2);

    //Get Stepper motor number 2
    var stepper = motorWing.GetStepper(2, 200);

    dcMotor1.Run(Commmand.FORWARD);
    dcMotor2.Run(Commmand.BACKWARD);

    while (true)
    {
        Console.WriteLine("Speed up");
        for (short i = 0; i <= 255; i++)
        {
            dcMotor1.SetSpeed(i);
            dcMotor2.SetSpeed(i);
            await Task.Delay(10);
        }

        stepper.Step(50);

        await Task.Delay(500);

        Console.WriteLine("Slow down");
        for (short i = 255; i >= 0; i--)
        {
            dcMotor1.SetSpeed(i);
            dcMotor2.SetSpeed(i);
            await Task.Delay(10);
        }

        stepper.Step(-50);

        await Task.Delay(500);
    }
}

Sample project(s) available on GitHub

Characteristic	Locus
Inheritance	System.Object > MotorWing
Namespace	Meadow.Foundation.FeatherWings
Assembly	MotorWing.dll

Syntax

public class MotorWing : object

Constructors

MotorWing(II2cBus, Units.Frequency, Byte)

Creates a MotorWing driver

Declaration

public MotorWing(II2cBus i2cBus, Units.Frequency frequency, byte address = null)

Parameters

Type	Name	Description
II2cBus	i2cBus	The I2C bus connected to the device
Units.Frequency	frequency	The PWM frequency for the PCA9685 IC
System.Byte	address	The address of the i2c Peripheral

Methods

GetMotor(Int16)

Returns a instance of a DC Motor object

Declaration

public DCMotor GetMotor(short dcMotorIndex)

Parameters

Type	Name	Description
System.Int16	dcMotorIndex	The motor port we want to use: 1 thru 4 are valid

Returns

Type	Description
DCMotor	DCMotor

GetStepper(Int16, Int32)

Returns a instance of a Stepper Motor object

Declaration

public StepperMotor GetStepper(short stepperMotorIndex, int steps)

Parameters

Type	Name	Description
System.Int16	stepperMotorIndex	The stepper motor port we want to use: only 0 or 1 are valid
System.Int32	steps	The number of steps the motor has

Returns

Type	Description
StepperMotor	StepperMotor

Initialize()

Initialize the MotorWings

Declaration

public void Initialize()